Method and device for processing LIDAR sensor data are disclosed. The method includes (i) receiving from the LIDAR sensor a first dataset having a plurality of first data points representative of respective coordinates and associated with respective normal vectors, (ii) determining an uncertainty parameter for a given first data point based on a normal covariance of the normal vector of the given first data point where the normal covariance takes into account a measurement error of the LIDAR sensor when determining the respective coordinates of the given first data point, (iii) in response to the uncertainty parameter being above a pre-determined threshold, excluding the given first data point from the plurality of first data points, (iv) using the filtered plurality of first data points, instead of the plurality of first data points, for merging the first dataset of the LIDAR sensor with a second dataset of the LIDAR sensor.
Legal claims defining the scope of protection, as filed with the USPTO.
4. The method of claim 3, wherein the uncertainty is approximated as a Gaussian random variable.
5. The method of claim 1, wherein the measurement error of the LIDAR sensor is approximated by a sphere with a standard deviation.
6. The method of claim 1, wherein the using the filtered plurality of first data points comprises using, by the electronic device, the filtered plurality of first data points instead of the plurality of first data points during a matching step of an ICP algorithm.
8. The method of claim 7, wherein the transformation rule is an output of the ICP algorithm.
9. The method of claim 1, wherein the LIDAR sensor is mounted onto the Self-Driving Car (SDC).
13. The electronic device of claim 12, wherein the uncertainty is approximated as a Gaussian random variable.
14. The electronic device of claim 10, wherein the measurement error of the LIDAR sensor is approximated by a sphere with a standard deviation.
15. The electronic device of claim 10, wherein the electronic device is configured to use the filtered plurality of first data points instead of the plurality of first data points during a matching step of an ICP algorithm.
16. The electronic device of claim 15, wherein the electronic device is configured to estimate a transformation rule between the first 3D point cloud and the second 3D point cloud.
17. The electronic device of claim 16, wherein the transformation rule is an output of the ICP algorithm.
18. The electronic device of claim 10, wherein the LIDAR sensor is mounted onto the Self-Driving Car (SDC).
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December 29, 2020
January 2, 2024
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